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Register a new userA Geometric Approach to Rotor Failure Tolerant Trajectory Tracking Control Design for a Quadrotor
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This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular velocity and orientation about the vertical body axis. The proposed controller enables the quadrotor to track the orientation of this axis, and consequently any prescribed position trajectory using only three rotors. The control design is carried out in two stages. First, in order to track the reduced attitude dynamics, a geometric controller with two input torques is designed on the Lie-Group $SO(3)$. This is then extended to $SE(3)$ by designing a saturation based feedback law, in order to track the center of mass position with bounded thrust. The control law for the complete dynamics achieves exponential tracking for all initial conditions lying in an open-dense subset. The novelty of the geometric control design is in its ability to effectively execute aggressive, global maneuvers despite complete loss of a rotor. Numerical simulations on models of a variable pitch and a conventional quadrotor have been presented to demonstrate the practical applicability of the control design.
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We present a new quadrotor geometric control scheme that is capable of tracking highly aggressive trajectories. Unlike previous works, our geometric controller uses the logarithmic map of SO(3) to express rotational error in the Lie algebra, allowing us to treat the manifold in a more effective and natural manner, and can be shown to be globally attractive. We show the performance of our control scheme against highly aggressive trajectories in simulation experiments. Additionally, we present an adaptation of this controller that allows us to interface effectively with the angular rate controllers on an onboard flight control unit and show the ability of this adapted control scheme to track aggressive trajectories on a quadrotor hardware platform.
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